Andreasson, Henrik

Uras, Tansel

Department of Computer Science, University of Southern California, USA.

Koenig, Sven

Department of Computer Science, University of Southern California, USA.

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2014 (English)In: Proceedings of the 24th International Conference on Automated Planning and Scheduling, 2014Conference paper, (Refereed)

Abstract [en]

A growing interest in the industrial sector for autonomous ground vehicles has prompted significant investment in fleet management systems. Such systems need to accommodate on-line externally imposed temporal and spatial requirements, and to adhere to them even in the presence of contingencies. Moreover, a fleet management system should ensure correctness, i.e., refuse to commit to requirements that cannot be satisfied. We present an approach to obtain sets of alternative execution patterns (called trajectory envelopes) which provide these guarantees. The approach relies on a constraint-based representation shared among multiple solvers, each of which progressively refines trajectory envelopes following a least commitment principle.